Module 04 Modeling 605
Module 04 Modeling 605
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Modeling
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2017-05-05 ABB
Table of Contents
1. Modeling ....................................................................................................... 4
1.1. Building the Station ............................................................................................ 4
1.2. Creating a Mechanism ..................................................................................... 10
1.3. Importing the Fixture and Working with Part Geometry .................................... 20
1.4. Creating an Alternate Handed fixture and Part.................................................23
1.5. Finish the Cell Layout....................................................................................... 25
1.6. Mirror Path ....................................................................................................... 25
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Modeling
1. Modeling
Overview
In this module we will expand on working with geometry, and also create a mechanism. We
will create a robot cell for deburring a motor housing and then duplicate it in order to do an
opposite handed version of the same part.
Unpack
Use Unpack&Work to open the Pack&Go file DeburrHousingStation.rspag from the
Courseware > Stations folder. Unpack it to a new folder
\Courseware\Solutions\Module_4\myDeburrSolution.
1. Import the geometry file 140_ stand.sat from the Courseware \Geometry folder.
2. The next step is to put the robot on the stand. To do this in RobotStudio we will move the
“Task Frame”. This moves the robot system around within the RobotStudio environment
without affecting the controller base frame values.
Tip!
The snap mode and selection level tools can be extremely useful when working with
geometry. In this case we can set the selection level to surface and click on the top of the
riser. In the coordinates output (bottom right corner of the screen) we can see the height of
the top of the riser is 530mm.
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Modeling
3. As you do not want to change the relationship between the controller and the base frame
answer Yes to the question “Do you also want to move the Base Frames(s)”?
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Modeling
2. Attach the tool to the robot by drag and dropping it on the robot in the Layout Browser
or right clicking on it and selecting Attach to. Answer “YES” to update the position of
the SpindleTool.
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Modeling
4. Start by setting the position of the fence. Right click on the fence in the Layout Browser
and select Set Position.
5. In the dialog box enter X= -500, Y= -1000, Z=0 and leave zeros in the orientation fields.
Press Apply.
6. Right click once again on the fence in the Layout Browser and select Properties. This
will bring up a dialog box where you can change the length of the various fence walls.
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Modeling
8. Import the IRC5 Single Cabinet controller from the Equipment Library. Set its position as
follows.
9. In the Modeling Tab select solid box. We will create a box to represent a concrete floor.
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Modeling
10. For the size and position of the box enter data as follows and click :
11. Right click on the new part in the Layout Browser and rename it “floor”.
12. Right click on the “floor” in Layout Browser and select Modify > Graphic
Appearance.
14. Browse to the Courseware\Textures folder and open the file named concrete floor.png.
15. Click on OK. You will now see a concrete texture on the floor.
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Modeling
Preparations
With MyDeburrStation_1 still open, make things easier to see. Begin by hiding the objects in
the robot cell.
This could be done by right clicking on the individual items in the Layout Browser and
unchecking Visible for each component.
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Modeling
2. Right click on Tag_1 and rename it to Deburr_Cell1. Note that you are automatically
taken to the Tags browser.
3. Add the stand, tool, fence and controller to this same tag.
4. Right click on the Debell_Cell1 tag and make it invisible.
Notice how all of the items no longer appear in the list of components under the
Layout browser. This can be a very effective tool to simplify this view when working
with stations containing a large number of components. When the tag is made visible
again the items will show in the browser.
Import Geometries
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Modeling
4. Reorient yourself in the Graphics Window so you can see the end plate closest to the
RobotStudio zero position. Right click on the graphic and make the body invisible.
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Modeling
We will now use the Place function to place the Slide on the SlideFrame.
5. In the graphics window change the Selection Level to Surface and the Snap Mode to
Center.
6. In the Modeling Browser right click on the Slide and select Position>Place by Two
Points.
Tip!
The dialog box is designed such that it “deactivates” when other activity is detected
(such as reorientation or zooming in/out in the Graphics Window). It is done this way
to ensure that unwanted selections are not made. Once a view has been reoriented in the
Graphics Window the curser needs to be placed back in the field you wish to populate
with a selection.
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Modeling
7. Zoom in on the Slide in the Graphics Window so that the holes on the ends of the
tubes can be viewed.
8. Place the cursor in the X-value of the Primary Point of the Place Object dialog box
and then snap to the center of the hole on the part in the Graphics Window. The
values should populate as shown.
9. Reorient the view as shown and similarly select the end of the tube and the place
point. A red line will connect the two points and be labeled as From and To.
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Modeling
12. The result should have the Slide placed on the ends of the tubes on the SlideFrame.
13. Close the dialog box, unhide the end plate and save the station as myDeburrStation_2.
Creating a Mechanism
1. Open the station myDeburrStation_2 if not already opened and switch to the
Modeling Tab.
2. Use the measurement tool to determine the travel distance of the slide. (Hint. Use the
selection level Surface and snap level End along with the minimum distance tool.)
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Modeling
4. In the wizard, name the mechanism “mySlide” and change the type to Device. Notice
how the different node requirements change below (in red and green) based upon the
type of mechanism you are creating. Anything in red needs to be validated before a
mechanism can be successfully created. Even though it is not required we will create
a frame so there is an attachment point for any fixture or part we may want to add
later.
Adding Links
1. To make our device we need two links. A base link and a moving link. Right click on
Links and click on Add Link... to open up the window below.
2. Select the SlideFrame and click on the right arrow to add it to the Added
Components column.
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Modeling
3. Check the box Set as BaseLink Click Apply but do not close the dialog box.
4. Next select the Slide and click on the right arrow to add it to the Added Components
column.
5. Click OK.
6. The result should be that the links node has turned green and the two links are shown
below.
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Modeling
Adding a Joint
To make our device work we need to define the joint between the two links.
7. As we did to add the links, right click on the joint node and select Add Joint….
Tip!
Note that Prismatic refers to linear motion.
The travel axis for the joint is defined by placing a positive integer in the desired field. In
this case a 1 in the X place holder makes the slide move along the X axis. This is
represented by the green indicator bar that appears on the floor.
Test this by jogging the slider to verify the direction. Before pressing apply try adding
values in the other fields and note the behavior and orientation of the green indicator.
For joint limits these values determine the amount and direction of travel along the axis
defined above. A negative value will change the direction of travel.
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Modeling
Adding a Frame
A frame will create an attachment point for any fixture, part, etc. that we may wish to attach
to the slide in the future.
1. Right click on the Frames node and select Add Frame to bring up the dialog box as
shown below. Use selection level Surface and snap mode Center to select the center of
the top of the slide as the frame reference point. Click on OK.
You will notice from the previous step that the Mechanism Modeler is still open. We will
now compile the mechanism.
1. Click on the button Compile Mechanism to build the mechanism.
2. Close the Mechanism Modeler.
3. Test your mechanism by right clicking on it in the Layout Browser and opening up the
Mechanism Joint Jog. Move the slider back and forth to test it.
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Modeling
4. Save your mechanism as a library item by right clicking on it in the Layout Browser
and then selecting Save As Library.
Overview
In the next steps we will import a fixture, attach it to our mechanism and then place a part in
the fixture.
1. Open MyDeburrStation_3 (if not already open).
2. Set the position of the mechanism mySlide to X= 475, Y= -180, Z=0 (no rotation).
5. Next import the geometry gasket.sat from the Courseware \Geometry folder.
6. Save the station as myDeburrStation_4.
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Modeling
In this section we will place the part into the fixture. We will use the 3 point placement
method to put the part in the fixture. This is a powerful tool that can assist in the assembly of
CAD data that comes from different sources in different orientations. The reason for the three
point placement is that the first point gives us the displacement while the second and third
points align the part in the X and Y axis respectively.
1. Freehand Move the part so that is above and near the middle of the fixture.
2. Next we want to open up the Place dialog box By Three Points and use selection level
Surface and snap mode End to assist in the placement.
Tip! Refer to the two position placement that was done in chapter 1.2.
Also ensure that the bottom surface of the gasket sits on the top surface of the fixture
plate.
3. The result after placement should look like the following.
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2. Select the face of the gasket and type in 150mm as height (Z-axis) for the part in the To
Point. Also ensure the Make Solid box is checked. Click Create.
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Modeling
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Modeling
Hint: Search “system from layout” in the RobotStudio help file for instructions on
different ways to bring systems into a station. Note that you will need to deselect the two
slides in the Mechanisms dialog when creating the system.
3. Create a frame at the mid of the left side edge on the part motor_housing, as on the picture
below:
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Modeling
3. Select Mirror Plane Y-Z and Reference Selected Frame.., select the frame made in the
previous step and click on Show (now should the mirror plane be displayed at the center of
the part).
4. Check Keep Orientation and click Apply.
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Modeling
1. Select the path mDeburrPath in the first system and click on Move to Task – your second
system in the Path Tools-Modify menu. Answer Yes at the question about reposition the
targets, and Yes to All at the question about use existing workobject.
2.
3. The resulting path in the new system should look like this.
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Modeling
4. Modify the work object and set its position on the corner of the fixture so that the path lines up with the
part.
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Modeling
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